Merge pull request #1799 from tier4/sync-awf-latest

chore: sync awf-latest

Author: tier4-autoware-public-bot[bot]

control/autoware_control_performance_analysis/src/control_performance_analysis_core.cpp

@@ -16,6 +16,7 @@
 
 #include "autoware/motion_utils/trajectory/interpolation.hpp"
 #include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/geometry/pose_deviation.hpp"
 
 #include <algorithm>
 #include <limits>

control/autoware_pid_longitudinal_controller/src/longitudinal_controller_utils.cpp

@@ -14,6 +14,7 @@
 
 #include "autoware/pid_longitudinal_controller/longitudinal_controller_utils.hpp"
 
+#include "autoware/universe_utils/geometry/geometry.hpp"
 #include "tf2/LinearMath/Matrix3x3.h"
 #include "tf2/LinearMath/Quaternion.h"
 

control/autoware_predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp

@@ -17,6 +17,7 @@
 #include <autoware/motion_utils/marker/marker_helper.hpp>
 #include <autoware/motion_utils/resample/resample.hpp>
 #include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/geometry/pose_deviation.hpp>
 #include <autoware/universe_utils/math/unit_conversion.hpp>
 #include <tf2_eigen/tf2_eigen.hpp>
 

control/autoware_predicted_path_checker/src/predicted_path_checker_node/utils.cpp

@@ -14,6 +14,8 @@
 
 #include "autoware/predicted_path_checker/utils.hpp"
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
+
 #include <boost/format.hpp>
 #include <boost/geometry/algorithms/convex_hull.hpp>
 #include <boost/geometry/strategies/agnostic/hull_graham_andrew.hpp>

control/autoware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.cpp

@@ -34,6 +34,7 @@
 #include "autoware/pure_pursuit/util/planning_utils.hpp"
 #include "autoware/pure_pursuit/util/tf_utils.hpp"
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
 #include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
 
 #include <algorithm>

planning/autoware_freespace_planner/src/autoware_freespace_planner/utils.cpp

@@ -15,6 +15,8 @@
 #include "autoware/freespace_planner/utils.hpp"
 
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/geometry/pose_deviation.hpp>
 
 #include <deque>
 #include <vector>

planning/autoware_obstacle_stop_planner/src/node.hpp

@@ -24,6 +24,7 @@
 #include <autoware/motion_utils/trajectory/conversion.hpp>
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
 #include <autoware/universe_utils/geometry/boost_geometry.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
 #include <autoware/universe_utils/ros/published_time_publisher.hpp>
 #include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
 #include <pcl_ros/transforms.hpp>

planning/autoware_obstacle_stop_planner/src/planner_utils.cpp

@@ -18,6 +18,7 @@
 #include <autoware/motion_utils/trajectory/conversion.hpp>
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
 #include <autoware/universe_utils/geometry/boost_polygon_utils.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
 
 #include <diagnostic_msgs/msg/key_value.hpp>
 

planning/autoware_path_smoother/include/autoware/path_smoother/utils/trajectory_utils.hpp

@@ -21,6 +21,7 @@
 #include "autoware/motion_utils/trajectory/trajectory.hpp"
 #include "autoware/path_smoother/common_structs.hpp"
 #include "autoware/path_smoother/type_alias.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
 
 #include <Eigen/Core>
 

planning/autoware_path_smoother/src/utils/trajectory_utils.cpp

@@ -17,6 +17,7 @@
 #include "autoware/motion_utils/resample/resample.hpp"
 #include "autoware/motion_utils/trajectory/conversion.hpp"
 #include "autoware/path_smoother/utils/geometry_utils.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
 
 #include "autoware_planning_msgs/msg/path_point.hpp"
 #include "autoware_planning_msgs/msg/trajectory_point.hpp"

planning/autoware_velocity_smoother/src/resample.cpp

@@ -17,6 +17,7 @@
 #include "autoware/motion_utils/resample/resample.hpp"
 #include "autoware/motion_utils/trajectory/conversion.hpp"
 #include "autoware/motion_utils/trajectory/trajectory.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
 #include "autoware/velocity_smoother/trajectory_utils.hpp"
 
 #include <algorithm>

planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/analytical_jerk_constrained_smoother.cpp

@@ -16,6 +16,7 @@
 
 #include "autoware/motion_utils/resample/resample.hpp"
 #include "autoware/motion_utils/trajectory/conversion.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
 #include "autoware/velocity_smoother/trajectory_utils.hpp"
 
 #include <algorithm>

planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/velocity_planning_utils.cpp

@@ -15,6 +15,7 @@
 #include "autoware/velocity_smoother/smoother/analytical_jerk_constrained_smoother/velocity_planning_utils.hpp"
 
 #include "autoware/interpolation/linear_interpolation.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
 
 #include <algorithm>
 #include <vector>

planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp

@@ -20,6 +20,7 @@
 
 #include <autoware/universe_utils/geometry/boost_geometry.hpp>
 #include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/geometry/pose_deviation.hpp>
 
 #include <autoware_perception_msgs/msg/predicted_object.hpp>
 #include <autoware_perception_msgs/msg/predicted_path.hpp>

planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp

@@ -19,6 +19,7 @@
 
 #include <autoware/motion_utils/trajectory/interpolation.hpp>
 #include <autoware/universe_utils/geometry/boost_polygon_utils.hpp>
+#include <autoware/universe_utils/geometry/pose_deviation.hpp>
 
 #include <boost/geometry/algorithms/distance.hpp>
 

planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp

@@ -19,6 +19,7 @@
 #include <autoware/motion_utils/resample/resample.hpp>
 #include <autoware/universe_utils/geometry/boost_geometry.hpp>
 #include <autoware/universe_utils/geometry/boost_polygon_utils.hpp>
+#include <autoware/universe_utils/geometry/pose_deviation.hpp>
 #include <autoware/universe_utils/math/unit_conversion.hpp>
 #include <autoware_lanelet2_extension/utility/message_conversion.hpp>
 #include <autoware_lanelet2_extension/utility/query.hpp>

planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/type_alias.hpp

@@ -20,6 +20,7 @@
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
 #include <autoware/universe_utils/geometry/boost_polygon_utils.hpp>
 #include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/geometry/pose_deviation.hpp>
 #include <autoware/universe_utils/ros/marker_helper.hpp>
 #include <autoware/universe_utils/ros/uuid_helper.hpp>
 

planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml

@@ -31,7 +31,6 @@
   <depend>autoware_route_handler</depend>
   <depend>autoware_rtc_interface</depend>
   <depend>autoware_test_utils</depend>
-  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>fmt</depend>
   <depend>geometry_msgs</depend>

planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/util.cpp

@@ -20,6 +20,7 @@
 #include <autoware/behavior_velocity_planner_common/utilization/path_utilization.hpp>
 #include <autoware/behavior_velocity_planner_common/utilization/util.hpp>
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
 #include <autoware_lanelet2_extension/utility/utilities.hpp>
 
 #include <boost/geometry/algorithms/correct.hpp>

planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/util.cpp

@@ -19,6 +19,7 @@
 
 #include <autoware/behavior_velocity_planner_common/utilization/util.hpp>
 #include <autoware/motion_utils/marker/virtual_wall_marker_creator.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
 
 #include <lanelet2_core/geometry/Polygon.h>
 

planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/path_utilization.cpp

@@ -15,6 +15,7 @@
 #include <autoware/behavior_velocity_planner_common/utilization/path_utilization.hpp>
 #include <autoware/motion_utils/resample/resample.hpp>
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <algorithm>

planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/util.cpp

@@ -16,6 +16,7 @@
 
 #include "autoware/behavior_velocity_planner_common/utilization/boost_geometry_helper.hpp"
 #include "autoware/motion_utils/trajectory/trajectory.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
 #include "autoware_lanelet2_extension/utility/query.hpp"
 
 #include <autoware_planning_msgs/msg/path_point.hpp>

planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp

@@ -22,6 +22,7 @@
 #include <autoware/motion_utils/distance/distance.hpp>
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
 #include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/geometry/pose_deviation.hpp>
 #include <autoware/universe_utils/ros/uuid_helper.hpp>
 
 #include <boost/geometry/algorithms/intersection.hpp>

planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.cpp

@@ -16,6 +16,7 @@
 
 #include <autoware/motion_utils/distance/distance.hpp>
 #include <autoware/motion_utils/trajectory/path_with_lane_id.hpp>
+#include <autoware/universe_utils/geometry/pose_deviation.hpp>
 
 #include <boost/geometry/algorithms/correct.hpp>
 #include <boost/geometry/algorithms/intersects.hpp>

planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/test/test_dynamic_obstacle.cpp

@@ -21,6 +21,7 @@
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
 #include <autoware/universe_utils/geometry/boost_geometry.hpp>
 #include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/geometry/pose_deviation.hpp>
 #include <autoware/universe_utils/math/normalization.hpp>
 #include <autoware_test_utils/autoware_test_utils.hpp>
 #include <rclcpp/clock.hpp>

planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/collision.cpp

@@ -16,6 +16,7 @@
 
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
 #include <autoware/universe_utils/geometry/boost_polygon_utils.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
 #include <autoware/universe_utils/ros/uuid_helper.hpp>
 
 #include <boost/geometry.hpp>

planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/object_filtering.cpp

@@ -17,6 +17,8 @@
 #include "types.hpp"
 
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/geometry/pose_deviation.hpp>
 
 #include <geometry_msgs/msg/detail/pose__struct.hpp>
 

planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/filter_predicted_objects.cpp

@@ -17,6 +17,7 @@
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
 #include <autoware/traffic_light_utils/traffic_light_utils.hpp>
 #include <autoware/universe_utils/geometry/boost_geometry.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
 
 #include <boost/geometry/algorithms/detail/intersects/interface.hpp>
 #include <boost/geometry/algorithms/intersects.hpp>

planning/sampling_based_planner/autoware_path_sampler/include/autoware_path_sampler/utils/geometry_utils.hpp

@@ -19,6 +19,7 @@
 #include "autoware/interpolation/spline_interpolation.hpp"
 #include "autoware/interpolation/spline_interpolation_points_2d.hpp"
 #include "autoware/motion_utils/trajectory/trajectory.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
 #include "autoware_path_sampler/common_structs.hpp"
 #include "autoware_path_sampler/type_alias.hpp"
 #include "autoware_vehicle_info_utils/vehicle_info_utils.hpp"

planning/sampling_based_planner/autoware_path_sampler/include/autoware_path_sampler/utils/trajectory_utils.hpp

@@ -19,6 +19,7 @@
 #include "autoware/interpolation/spline_interpolation.hpp"
 #include "autoware/interpolation/spline_interpolation_points_2d.hpp"
 #include "autoware/motion_utils/trajectory/trajectory.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
 #include "autoware_path_sampler/common_structs.hpp"
 #include "autoware_path_sampler/type_alias.hpp"
 #include "autoware_sampler_common/structures.hpp"

planning/sampling_based_planner/autoware_sampler_common/package.xml

@@ -12,6 +12,7 @@
   <build_depend>autoware_cmake</build_depend>
 
   <depend>autoware_interpolation</depend>
+  <depend>autoware_universe_utils</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>

tools/reaction_analyzer/src/reaction_analyzer_node.cpp

@@ -14,6 +14,9 @@
 
 #include "reaction_analyzer_node.hpp"
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/geometry/pose_deviation.hpp>
+
 #include <functional>
 #include <map>
 #include <memory>

vehicle/autoware_raw_vehicle_cmd_converter/package.xml

@@ -25,6 +25,7 @@
   <depend>autoware_control_msgs</depend>
   <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_interpolation</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>